Direct Yaw Moment, Traction and Power Limit Control of a Four Wheel Independent Drive Electric (4WID-EV) Formula Student Race Car
MetadataShow full item record
This master's thesis describes the development, implementation and testing of a suite of control systems consisting of torque vectoring, traction control and power limit control for a Formula style race car using four electric motors to achieve asynchronous power output to each wheel. The control systems have been designed in Matlab Simulink with the help of a parameterized full car model from IPG CarMaker. Code generation in Matlab Simulink was used to generate C-code, which was exported to a self written embedded C-code project which was programmed onto an Atmel ARM 32-bits microcontroller. Hardware-in-the-loop simulations were then performed to verify that the embedded implementation of the control systems worked as expected. Finally, the control systems were put to the test in the car at Vaernes Airport and at three Formula Student competitions throughout Europe. The control systems have worked as expected, and all the drivers praised the performance of the car.